From 6b2fb54963e74aef8739f7ca83a99ff82067370d Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Thu, 12 Jul 2018 21:55:06 +0100
Subject: [PATCH] attitude_estimator_q: use vehicle_visual_odometry topic to
get the heading
---
.../attitude_estimator_q/attitude_estimator_q_main.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
index 42cfef0c65..08dc7a216d 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -262,7 +262,7 @@ void AttitudeEstimatorQ::task_main()
#endif
_sensors_sub = orb_subscribe(ORB_ID(sensor_combined));
- _vision_sub = orb_subscribe(ORB_ID(vehicle_vision_attitude));
+ _vision_sub = orb_subscribe(ORB_ID(vehicle_visual_odometry));
_mocap_sub = orb_subscribe(ORB_ID(vehicle_mocap_odometry));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
@@ -346,7 +346,7 @@ void AttitudeEstimatorQ::task_main()
if (vision_updated) {
vehicle_attitude_s vision;
- if (orb_copy(ORB_ID(vehicle_vision_attitude), _vision_sub, &vision) == PX4_OK) {
+ if (orb_copy(ORB_ID(vehicle_visual_odometry), _vision_sub, &vision) == PX4_OK) {
Quatf q(vision.q);
Dcmf Rvis = Quatf(vision.q);
--
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